Separated blc_command in a new blc_loop. Make systemticaly athread to listen...

Separated blc_command in a new blc_loop. Make systemticaly athread to listen to the input ( avoid to block the program)

CMakeLists.txt

@@ -16,7 +16,7 @@ project(${PROJECT_NAME})
 find_package(blc_core REQUIRED)
 
 #source files
-set(sources src/blc_program.cpp src/blc_command.cpp)
+set(sources src/blc_loop.cpp src/blc_program.cpp src/blc_command.cpp)
 
 add_definitions(${BL_DEFINITIONS})
 include_directories(include ${BL_INCLUDE_DIRS})
@@ -29,15 +29,6 @@ target_link_libraries(${PROJECT_NAME} ${BL_LIBRARIES})
 add_library(static_${PROJECT_NAME} STATIC ${sources})
 #Both librairies have the same name only the extension will change.
 set_target_properties(static_${PROJECT_NAME} PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
-
-#Add a target to generate documentation
-find_package(Doxygen)
-if(DOXYGEN_FOUND)
-configure_file(${PROJECT_SOURCE_DIR}/doxyfile.in doxyfile.doxy) #Replace the CMAKE variables in the Doxyfile
-add_custom_target(doc_${PROJECT_NAME} ${DOXYGEN_EXECUTABLE} doxyfile.doxy COMMENT "Generating API documentation for ${PROJECT_NAME}" VERBATIM)
-else()
-message("You need to install doxygen to generate the doc.")
-endif()
 	
 #Describe what will be to install or in the package by default the prefix (CMAKE_INSTALL_PREFIX) is '/usr/’
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

doxyfile.in

-PROJECT_NAME           = ${PROJECT_NAME}
-OUTPUT_DIRECTORY	   = ${PROJECT_SOURCE_DIR}
-OPTIMIZE_OUTPUT_FOR_C  = YES
-EXTRACT_LOCAL_CLASSES  = NO
-HIDE_UNDOC_MEMBERS     = YES
-HIDE_UNDOC_CLASSES     = YES
-HIDE_FRIEND_COMPOUNDS  = YES
-HIDE_IN_BODY_DOCS      = YES
-CASE_SENSE_NAMES       = NO
-SORT_MEMBER_DOCS       = NO
-QUIET                  = YES
-INPUT                  = ${PROJECT_SOURCE_DIR}
-RECURSIVE              = YES
-USE_MDFILE_AS_MAINPAGE = ${PROJECT_SOURCE_DIR}/README.md
-ALPHABETICAL_INDEX     = NO
-HTML_OUTPUT            = doc/api
-GENERATE_LATEX		   = NO
-MACRO_EXPANSION        = YES
-PREDEFINED             = __cplusplus = 1
-REPEAT_BRIEF           = YES
-SKIP_FUNCTION_MACROS   = NO
-CLASS_DIAGRAMS         = NO
-SHOW_FILES			   = NO

include/blc_command.h

@@ -28,10 +28,6 @@ Few functions helping for pseudo realtime applications.
 
 #include "blc_tools.h"
 
-typedef enum {BLC_QUIT=0, BLC_RUN, BLC_PAUSE} type_blc_status;
-extern int blc_input_terminal, blc_output_terminal;
-extern type_blc_status blc_status;
-
 
 #define BLC_COMMAND_LOOP_THREAD() for(blc_command_loop_init(-2); blc_command_loop_start();blc_command_loop_end())
 
@@ -40,11 +36,25 @@ extern type_blc_status blc_status;
  Warning the period can be till 10ms longer than, asked. Problem of usleep/nano sleep */
 #define BLC_COMMAND_LOOP(period) for(blc_command_loop_init(period); blc_command_loop_start();blc_command_loop_end())
 
-typedef  void (*type_blc_command_cb)(char const *arguement, void *user_data);
+
+typedef enum {BLC_QUIT=0, BLC_RUN, BLC_PAUSE} type_blc_status;
+typedef void (*type_blc_command_cb)(char const *arguement, void *user_data);
+
+extern int blc_input_terminal, blc_output_terminal;
+extern type_blc_status blc_status;
+extern int blc_loop_iteration;
 extern long blc_command_loop_period;
 
 START_EXTERN_C
 
+//void * to not need to include "semaphore.h"
+void blc_loop_sem_to_unlock_on_stop(void *sem);
+
+void blc_command_ask_quit();
+
+void pause_cb();
+
+
 ///Add a command in the list of possible command lines from the user.
 void blc_command_add(const char *command_name, type_blc_command_cb callback, const char *prompt, const char *help, void *user_data);
 

src/blc_command.cpp

@@ -49,18 +49,51 @@ typedef struct
     void *user_data;
 }blc_command;
 
+
 // Static means it is only existing in this file
 static blc_command *blc_commands = NULL;
 static int blc_commands_nb = 0;
-static struct timeval timer;
-static int iterations_nb=0;
-static uint blc_period=0;
-static uint blc_duration=0;
-static long blc_current_duration;
 
-long blc_command_loop_period;
+static sem_t *sems_to_unlock=NULL;
+static int sems_to_unlock_nb=0;
+
+void pause_cb()
+{
+    if (blc_status==BLC_RUN){
+        blc_status=BLC_PAUSE;
+        fprintf(stderr, "=== %s: pause ===\n", blc_program_name);
+        blc_command_interpret();
+    }else {
+        fprintf(stderr, "=== %s: running ===\n", blc_program_name);
+        blc_status=BLC_RUN;
+    }
+}
+
+void blc_loop_sem_to_unlock_on_stop(void *sem){
+ 
+    APPEND_ITEM(&sems_to_unlock, &sems_to_unlock_nb, &sem);
+}
+
+void blc_command_ask_quit(){
+    sem_t *sem;
+    blc_status=BLC_QUIT;
+
+    
+    FOR_EACH(sem, sems_to_unlock, sems_to_unlock_nb ){
+        while (sem_trywait(sem)!=0){
+            if (errno==EAGAIN)  sem_post(sem);
+            else EXIT_ON_SYSTEM_ERROR("unlocking semaphore");
+        }
+        sem_post(sem);
+    }
+    
+    if (blc_command_loop_period==-2){ //thread
+        sleep(10);
+        fprintf(stderr, "=== %s: error program not quitting ! We force it. ===\n", blc_program_name);
+        exit(EXIT_FAILURE);
+    }
+}
 
-type_blc_status blc_status=BLC_RUN;
 
 START_EXTERN_C
 
@@ -84,40 +117,6 @@ void blc_command_display_help()
     }
 }
 
-void blc_fprint_stats(FILE *file)
-{
-    fprintf(file, "%d iterations, average duration: %.3fms, average frequency: %.3fHz period: %.3fms\n", iterations_nb, blc_duration/(1000.*iterations_nb), 1000000.*iterations_nb/(double)blc_period, blc_period/(1000.*iterations_nb));
-    iterations_nb=0;
-    blc_period=0;
-    blc_duration=0;
-    us_time_diff(&timer);
-}
-
-static void pause_cb()
-{
-    if (blc_status==BLC_RUN){
-        blc_status=BLC_PAUSE;
-        fprintf(stderr, "=== %s: pause ===\n", blc_program_name);
-        blc_command_interpret();
-    }else {
-        fprintf(stderr, "=== %s: running ===\n", blc_program_name);
-        blc_status=BLC_RUN;
-    }
-}
-
-static void blc_command_ask_quit(){
-    blc_status=BLC_QUIT;
-    if (blc_command_loop_period==-2){ //thread
-        sleep(3);
-        fprintf(stderr, "=== %s: error program not quitting ! We force it. ===\n", blc_program_name);
-        exit(EXIT_FAILURE);
-    }
-}
-
-static void display_stats()
-{
-    blc_fprint_stats(stderr);
-}
 
 void blc_command_add(const char *command_name, type_blc_command_cb callback, const char *prompt, const char *help, void *user_data){
     blc_command tmp_command;
@@ -181,17 +180,18 @@ static void blc_command_interpret_block(){
     size_t line_capability=0;
     ssize_t line_size;
     
+    //We do not consider error if it was an interruption. @TODO check wether the content of lin is correct.
     do{
         line_size = getline(&line, &line_capability, stdin);
     }while ((line_size==-1) && (errno==EINTR));
     
     if (line_size==-1)
     {
-        if ((errno==0) || (errno==ETIMEDOUT)) {
-            free(line);
+        if ((errno==0) || (errno==ETIMEDOUT) || (errno==EINVAL)) {
+            if (line) FREE(line);
             blc_command_ask_quit(); //stdin closed
         }
-        else EXIT_ON_SYSTEM_ERROR("Command interpret: getline");
+        else EXIT_ON_SYSTEM_ERROR("getline(&line, &line_capability, stdin)");
     }
     else{
         line_size=line_size-1;
@@ -199,6 +199,7 @@ static void blc_command_interpret_block(){
         
         blc_command_interpret_string(line, line_size);
     }
+    FREE(line);
 }
 
 void blc_command_interpret(){
@@ -246,56 +247,11 @@ void blc_command_interpret_thread(char const *option, void (*ask_quit_funcion)()
     
     if (ask_quit_funcion==NULL) ask_quit_funcion=blc_command_ask_quit;
     blc_command_loop_period=-2;
-    if (strchr(option, 'h')) blc_command_add("h",  (type_blc_command_cb)blc_command_display_help, NULL, "display this help", NULL);
-    if (strchr(option, 'q')) blc_command_add("q",  (type_blc_command_cb)ask_quit_funcion, NULL, "quit the application", NULL);
+  //  if (strchr(option, 'h')) blc_command_add("h",  (type_blc_command_cb)blc_command_display_help, NULL, "display this help", NULL);
+  //  if (strchr(option, 'q')) blc_command_add("q",  (type_blc_command_cb)ask_quit_funcion, NULL, "quit the application", NULL);
     SYSTEM_ERROR_CHECK(pthread_create(&thread, NULL, command_thread_interpret_loop, NULL), -1, NULL);
 }
 
-
-void blc_command_loop_init(long loop_period)
-{
-    iterations_nb=0;
-    blc_command_loop_period=loop_period;
-    if (blc_input_terminal && (blc_command_loop_period!=-1) && (blc_command_loop_period!=-2)) blc_command_add("", (type_blc_command_cb)pause_cb, NULL, "set on/off pause", NULL);
-    if (blc_command_loop_period!=-2){
-        blc_command_add("h", (type_blc_command_cb)blc_command_display_help, NULL, "display this help", NULL);
-        blc_command_add("q", (type_blc_command_cb)blc_command_ask_quit, NULL, "quit the application", NULL);
-    }
-    if (blc_command_loop_period!=-1) blc_command_add("s", (type_blc_command_cb)display_stats, NULL, "display time stats", NULL);
-    
-    if (blc_input_terminal) blc_command_display_help();
-    if (blc_command_loop_period!=-1) fprintf(stderr, "=== %s: running ===\n", blc_program_name);
-    if (blc_command_loop_period==-2) blc_command_interpret_thread("hq", NULL);
-}
-
-int blc_command_loop_start(){
-    if (iterations_nb==0) us_time_diff(&timer);
-    else  blc_period+=blc_current_duration+us_time_diff(&timer);
-    
-    switch (blc_command_loop_period){
-        case -1: blc_command_interpret();break;
-        case -2:break;
-        default:blc_command_try_to_interpret();
-    }
-    return blc_status;
-}
-
-void blc_command_loop_end(){
-    struct timespec time_left={0,0};
-    
-    blc_current_duration=us_time_diff(&timer);
-    blc_duration+=blc_current_duration;
-    
-    if (blc_command_loop_period > 0){
-        time_left.tv_nsec = (blc_command_loop_period - blc_current_duration)*1000;
-        if (time_left.tv_nsec < 0) color_fprintf(BLC_YELLOW, stderr, "\rMissing %.3fms in the BLC_COMMAND_LOOP", -time_left.tv_nsec/1000000.f);
-        else SYSTEM_SUCCESS_CHECK(nanosleep(&time_left, NULL), 0, "Program loop interrupted. Time left %ldµs", time_left.tv_nsec/1000.f);
-        
-        /* Warning the nanosleep can be overtimed of 10ms !!! it is the same for usleep !! */
-    }
-    iterations_nb++;
-}
-
 void blc_command_update_int_cb(char const *argument, void *int_pt){
     char *endptr;
     int value;

src/blc_loop.cpp

+
+#include "blc_command.h"
+#include "blc_realtime.h"
+#include <unistd.h> //sleep
+#include <errno.h> //errno
+#include <time.h> //nanosleep
+#include <sys/time.h> //gettimeofday
+
+static struct timeval timer;
+static uint blc_period=0;
+static uint blc_duration=0;
+static uint blc_duration_min=UINT_MAX, blc_duration_max=0;
+
+static long blc_current_duration;
+static int intermediate_iteration;
+
+long blc_command_loop_period;
+int blc_loop_iteration;
+
+
+#include "blc_program.h"
+
+
+type_blc_status blc_status=BLC_RUN;
+
+void blc_fprint_stats(FILE *file)
+{
+    fprintf(file, "%d iterations, average duration: %.3fms [%.3f, %.3f], average frequency: %.3fHz period: %.3fms\n", intermediate_iteration, blc_duration/(1000.f*intermediate_iteration), blc_duration_min/1000., blc_duration_max/1000., 1e6*intermediate_iteration/(double)blc_period, blc_period/(1000.*intermediate_iteration));
+    intermediate_iteration=0;
+    blc_period=0;
+    blc_duration=0;
+    blc_duration_min=UINT_MAX;
+    blc_duration_max=0;
+    gettimeofday(&timer, NULL);
+}
+
+static void display_stats(){
+    blc_fprint_stats(stderr);
+}
+
+void blc_command_loop_init(long loop_period)
+{
+    blc_loop_iteration=0;
+    intermediate_iteration=0;
+    blc_command_loop_period=loop_period;
+    if (blc_input_terminal && (blc_command_loop_period!=-1) && (blc_command_loop_period!=-2)) blc_command_add("", (type_blc_command_cb)pause_cb, NULL, "set on/off pause", NULL);
+    if (blc_command_loop_period!=-2){
+        blc_command_add("h", (type_blc_command_cb)blc_command_display_help, NULL, "display this help", NULL);
+        blc_command_add("q", (type_blc_command_cb)blc_command_ask_quit, NULL, "quit the application", NULL);
+    }
+    if (blc_command_loop_period!=-1) blc_command_add("s", (type_blc_command_cb)display_stats, NULL, "display time stats", NULL);
+    
+    if (blc_input_terminal) blc_command_display_help();
+  /*  if (blc_command_loop_period!=-1)
+    if (blc_command_loop_period==-2);*/
+    fprintf(stderr, "=== %s: running ===\n", blc_program_name);
+    blc_command_interpret_thread("hq", NULL);
+}
+
+int blc_command_loop_start(){
+    if (intermediate_iteration==0) blc_us_time_diff(&timer);
+    else  blc_period+=blc_current_duration+blc_us_time_diff(&timer);
+    
+    switch (blc_command_loop_period){
+        case -1: blc_command_interpret();break;
+        case -2: break;
+        default:;//blc_command_try_to_interpret();
+    }
+    return blc_status;
+}
+
+void blc_command_loop_end(){
+    div_t ratio;
+    struct timespec time_left;
+    int diff;
+    
+    blc_current_duration=blc_us_time_diff(&timer);
+    blc_duration+=blc_current_duration;
+    
+    if (blc_duration<blc_duration_min) blc_duration_min=blc_duration;
+    else if (blc_duration > blc_duration_max) blc_duration_max=blc_duration;
+    
+    if (blc_command_loop_period > 0){
+        diff=blc_command_loop_period - blc_current_duration;
+        ratio=div(diff, 1e6);
+        time_left.tv_sec = ratio.quot;
+        time_left.tv_nsec = ratio.rem*1e9;
+        if (diff  < 0) color_fprintf(BLC_YELLOW, stderr, "\rMissing %.3fms in the BLC_COMMAND_LOOP", diff/1000.f);
+        else SYSTEM_ERROR_RETRY_ON_SPECIFIC_ERRNO(nanosleep(&time_left, &time_left), 0, EINTR, "Time left %.3fms", time_left.tv_nsec/1e6f + time_left.tv_sec*1000);
+        /* Warning the nanosleep can be overtimed of 10ms !!! it is the same for usleep !! */
+    }
+    intermediate_iteration++;
+    blc_loop_iteration++;
+}

src/blc_program.cpp

@@ -85,7 +85,6 @@ static int blc_program_options_nb=0;
 static struct program_parameter *blc_program_parameters=NULL;
 static int blc_program_parameters_nb;
 
-
 int blc_input_terminal, blc_output_terminal;
 
 
@@ -306,7 +305,7 @@ void blc_program_option_interpret(int *argc, char **argv[])
                 if ((i+optind)>=(*argc)){//There is no more argument to interpret
                     if (blc_program_parameters[i].required_nb){
                         if (isatty(STDIN_FILENO)) fprintf(stderr, "%s: %s? ", blc_program_parameters[i].help, blc_program_parameters[i].name);
-                        SYSTEM_ERROR_CHECK(parameter_read=getline(&tmp_parameter, &linecap, stdin), -1, "Reading input for parameter"); //getline(blc_program_parameters[i].string_pt, sizeof(blc_program_parameters[i].string_pt), stdin), NULL, "Wrong channel input name");
+                        SYSTEM_ERROR_CHECK(parameter_read=getline(&tmp_parameter, &linecap, stdin), -1, "Reading input for parameter");
                         tmp_parameter[parameter_read-1]=0;//Remove the last return;
                         (*blc_program_parameters[i].string_pt)=tmp_parameter;
                         linecap=0;